edz-o
/ depth_conversion.py
Last active
June 13, 2020 11:50
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| def DepthConversion(PointDepth, f): | |
| H = PointDepth.shape[0] | |
| W = PointDepth.shape[1] | |
| i_c = np.float(H) / 2 - 1 | |
| j_c = np.float(W) / 2 - 1 | |
| columns, rows = np.meshgrid(np.linspace(0, W-1, num=W), np.linspace(0, H-1, num=H)) | |
| DistanceFromCenter = ((rows - i_c)**2 + (columns - j_c)**2)**(0.5) | |
| PlaneDepth = PointDepth / (1 + (DistanceFromCenter / f)**2)**(0.5) | |
| return PlaneDepth |